A receding horizon control based approach for guiding of autonomous formations of nonholonomic robots in a leader-follower constellation is proposed in this paper. the presented method ensures dynamic obstacle avoidan...
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ISBN:
(纸本)9789898565211
A receding horizon control based approach for guiding of autonomous formations of nonholonomic robots in a leader-follower constellation is proposed in this paper. the presented method ensures dynamic obstacle avoidance, formation coordination as well as failure tolerance. the robustness of the algorithm is verified by numerical multi-robot experiments. Besides, effects of system's parameters on the algorithm performance are investigated.
this paper deals with an iterative learning control law for multivariable systems. the desired inputs are supposed to be known and periodic. the principle of the control is to make outputs as close as possible to desi...
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the paper elaborates a hyperbolic wavelet construction for representing signals in the Hardy space H2 on the unit disc. An efficient computing scheme based on the matrix form of the representation is worked out. the w...
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In the present paper the mathematical representation of a test case central heating system with a short pipng network, three radiators and one boiler heating two apartments is developed in the form of a nonlinear mode...
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Distributed system for control over the crystal growth process is presented. the main advantages of the system are its low cost, ability to recover after power failure, an application of standard ISaGRAF software envi...
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the work of the spacecraft control system is modeled with Markov chains. Small and large models for the technological and command-programming control contours are developed. the way of the calculation of the control c...
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In this paper, the error dynamic equation of the ILC algorithm is derived with consideration of parameter uncertainties and noise. the H∞ frame work is utilized using the derived error dynamics to design the robust l...
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A solution based on Multi-Agent Systems properties has been proposed. the presented structure is designed to Distributed control System behaviour abstraction and encapsulation of the technical characteristics of its i...
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this paper presents a novel method for visual anomaly detection in production plants. Since the complexity of the plants and the number of signals that have to be monitored by the operator grows, there is a need of to...
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In this paper Attitude and Altitude tracking control design of the four rotors helicopter will be considered. Two robust control algorithms will be designed for the case of stabilization and tacking of attitude and al...
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ISBN:
(纸本)9789898565211
In this paper Attitude and Altitude tracking control design of the four rotors helicopter will be considered. Two robust control algorithms will be designed for the case of stabilization and tacking of attitude and altitude system's outputs. the attitude controller is realized using an inertial measurement unit (IMU) based on MEMS sensors. the altitude control algorithm uses a sonar sensor output. the control algorithms designed are implemented on an embedded control system based on a dsPIC μC. the obtained experimental results demonstrate high performance of bothcontrollers and robustness against disturbances.
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